Merge pull request #202 from hshi74/main

Add toddlerbot_2xc and toddlerbot_2xm

Author: kevinzakka

CONTRIBUTORS.md

@@ -91,6 +91,7 @@ class ModelType(int, enum.Enum):
     "kinova_gen3/gen3": "gen3",
     "booster_t1/t1": "t1",
     "agilex_piper/piper": "piper",
+    "toddlerbot_2xc/toddlerbot_2xc": "toddlerbot",
 }
 
 MODEL_MAP = {
@@ -134,6 +135,7 @@ class ModelType(int, enum.Enum):
     "kinova_gen3/gen3": ModelType.ARM,
     "booster_t1/t1": ModelType.HUMANOID,
     "agilex_piper/piper": ModelType.ARM,
+    "toddlerbot_2xc/toddlerbot_2xc": ModelType.HUMANOID,
 }
 
 DEFAULT_FOV = 40
@@ -332,6 +334,11 @@ class ModelType(int, enum.Enum):
         xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940",
         fovy=50,
     ),
+    "toddlerbot_2xc/toddlerbot_2xc": dict(
+        pos="0.75 -0.38 0.55",
+        xyaxes="0.453 0.892 0.000 -0.295 0.150 0.944",
+        fovy=DEFAULT_FOV,
+    ),
 }
 
 # pylint: disable=line-too-long
@@ -369,7 +376,7 @@ def create_arena():
   return arena
 
 
-MODEL_XMLS = [pathlib.Path(f"../{k}.xml") for k in MODEL_MAP.keys()]
+MODEL_XMLS = [pathlib.Path(f"./{k}.xml") for k in MODEL_MAP.keys()]
 
 
 # Sort XML files.

README.md

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Haochen Shi
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.